CN109367745A - The propulsion system of bionical object flex-wing - Google Patents
The propulsion system of bionical object flex-wing Download PDFInfo
- Publication number
- CN109367745A CN109367745A CN201810999557.9A CN201810999557A CN109367745A CN 109367745 A CN109367745 A CN 109367745A CN 201810999557 A CN201810999557 A CN 201810999557A CN 109367745 A CN109367745 A CN 109367745A
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- China
- Prior art keywords
- rocker
- wing
- tandem
- wing plate
- smallclothes
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 8
- 238000001514 detection method Methods 0.000 abstract description 3
- 230000001141 propulsive effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 241000251468 Actinopterygii Species 0.000 description 3
- 241001125843 Trichiuridae Species 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of propulsion systems of bionical object flex-wing, including servo motor, frame, rocker structure, wing plate structure, connecting shaft and shaft, it is together in series by several rocker structures by connecting shaft and forms tandem rocker actuator, under the driving of servo motor, tandem rocker actuator is rotated, smallclothes in each rocker structure pass through the rocking bar in one wing plate structure of driving, realize wing plate flapping around shaft, to realize the surge movement of tandem wing plate, and then the surge movement of the flex-wing of nature biotechnology is simulated, generate propulsive force；Present invention could apply to entertain aircraft in miniature water, it can also be applied to the propulsion system of the submarine navigation device of water quality detection, also can be used as the propulsion system of above water craft.
Description
Technical field
The present invention relates to a kind of propulsion systems of bionical object flex-wing, move more particularly to a kind of be used as by servo motor
Power source realizes that the flexible fluctuation of the flex-wing of nature biotechnology generates the propulsion system of propulsive force by tandem wing plate.
Background technique
Nature biotechnology fish pass through prolonged natural selection and evolution, have developed out performance of moving about in outstanding water,
Fish realize the various complicated and superior trip of fish body by swinging or fluctuating various fins or wing generation power on its body
Dynamic performance, such as ray realize the various motion of automobile by fluctuating the wing of its body two sides, and African hairtail is by fluctuating its back
Flex-wing generate forward strength of moving.
Instantly countries in the world pay more attention to ocean development, and various boat paradises are more and more, either small in water
The Shui Zhong robot of humanoid robot toy, the robot of rivers and lakes water quality detection or military use, suffers from huge need
It asks.The propulsion system for simulating the surge movement design of the flex-wing of fish has the characteristics that propulsive efficiency is high, shape is dazzled cruel, has
Broad application prospect.
Summary of the invention
For the deficiency of the above technology, the present invention provide it is a kind of it is simple and reliable for structure, the superior bionical object of stability is soft
Property the wing fluctuation propulsion system.
To achieve the above object, the present invention adopts the following technical scheme: a kind of propulsion system of bionical object flex-wing, mainly
It is made of servo motor, frame, rocker structure, wing plate structure, connecting shaft and shaft；It is characterized by: smallclothes both ends are right respectively
Title is equipped with a disk, and smallclothes are not overlapped with the center of circle of the link position of disk and disk；Smallclothes and it is mounted on its both ends
Disk forms rocker structure；Several rocker structures are linked together by connecting shaft forms tandem rocker actuator, servo motor
One end of output shaft and tandem rocker actuator links together, and servo motor drives the rotation of tandem rocker actuator；Wing plate structure
It is made of wing plate, connecting plate and rocking bar；Connecting plate is equipped with rotating hole, and wing plate structure is covered in shaft by rotating hole；Smallclothes
It is equipped with sliding eye, rocking bar passes through sliding eye.
Two neighboring rocker structure, the more previous rocker structure of the latter rocker structure around connecting shaft axis along solid
Determining direction rotation has fixed angle.
Shaft is mounted on frame, and servo motor and frame are fixed together, and frame supports tandem rocker actuator, so that
The rotation stable under the driving of servo motor of tandem rocker actuator.
Smallclothes in each rocker structure realize a wing plate around shaft by the rocking bar in one wing plate structure of driving
Flap, to realize the surge movement of several wing plates of tandem.
Smallclothes are string configuration.
Main feature and advantage of the invention is as follows.
1, several rocker structures are linked together by connecting shaft forms tandem rocker actuator, under the driving of servo motor
It is rotated, structural reliability is high.
2, each rocker structure drives a wing plate around the rotation of shaft, and several wing plate tandems get up and then simulate biology
Flex-wing, it is simple and reliable for structure and easily controllable.
It 3, can be as the middle-size and small-size amusement robot of water, rivers and lakes water quality detection robot and military surveillance robot etc.
Propulsion system, have a wide range of application.
Detailed description of the invention
Fig. 1 is the schematic diagram of the propulsion system overall structure of bionical object flex-wing.
Fig. 2 is the schematic diagram that servo motor drives tandem wing plate structure.
Fig. 3 is the schematic diagram that servo motor drives tandem wing plate partial structurtes.
Fig. 4 is the schematic diagram of tandem wing plate undulating structure.
Fig. 5 is the schematic diagram that tandem wing plate fluctuates partial structurtes.
Fig. 6 is the schematic diagram of wing plate structure.
Fig. 7 is the schematic diagram of tandem rocker actuator.
Fig. 8 is the schematic diagram of rocker structure.
Wherein 1 is servo motor, and 2 be rocker structure, and 3 be wing plate structure, and 4 be frame, and 5 be shaft, and 6 be smallclothes, and 7 be sliding
Dynamic hole, 8 be connecting shaft, and 9 be connecting plate, and 10 be rotating hole, and 11 be rocking bar, and 12 be wing plate, and 13 be disk.
Specific embodiment
For that can further appreciate that summary of the invention of the invention, feature and technical advantage, following embodiment is hereby enumerated, is tied below
Attached drawing is closed to be described in more detail the present invention.
In conjunction with Fig. 8, be unfolded to introduce with rocker structure (2), smallclothes (6) are string configuration, such as cylindrical body, cuboid,
Prism etc. is respectively symmetrically equipped with a disk (13) at smallclothes (6) both ends, the link position of smallclothes (6) and disk (13) and
The center of circle of disk (13) is not overlapped, i.e., eccentric connection, the axis of two disks (13) is overlapped, and smallclothes (6) and is mounted on its both ends
The two disks (13) form rocker structure (2)；Sliding eye (7) are equipped on smallclothes (6).
In conjunction with Fig. 7, several rocker structures (2) are linked together by connecting shaft (8) and form tandem rocker actuator, connection side
Formula be connecting shaft (8) both ends connect respectively with a disk (13) in rocker structure (2), and the axis of connecting shaft (8) and
The axis of the connected disk (13) in its both ends is overlapped.
In conjunction with Fig. 2, Fig. 3, Fig. 5 and Fig. 6, wing plate structure (3) is made of wing plate (12), connecting plate (9) and rocking bar (11), even
Fishplate bar (9) is equipped with rotating hole (10), and wing plate structure (3) is covered on shaft (5) by rotating hole (10), and rocking bar (11) passes through small
Sliding eye (7) on part (6), the rotation of rocker structure (2) drive wing plate structure (3) around shaft (5) by smallclothes (6)
Rotation, and then realize wing plate (12) around the rotation of shaft (5)；The output shaft of servo motor (1) and the one of tandem rocker actuator
End links together, so that the rotation of servo motor (1) driving tandem rocker actuator, realizes the bat up and down of a tandem wing plate (12)
It is dynamic；To connect one end of servo motor (1) as the front end of tandem rocker actuator, two neighboring rocker structure (2), the latter is shaken
For rod structure (2) with previous rocker structure (2) for reference, the axis around disk (13) rotates fixed angle along fixed-direction
Afterwards, it then is linked together by connecting shaft (5) and forms tandem rocker actuator, matched to realize with each rocker structure (2)
The angle of wing plate (12) flapping motion in the wing plate structure (3) of conjunction is different, since servo motor (1) end, this tandem wing
Plate (12) forms a wavy shape, to simulate the surge movement of the flex-wing of biology.
In conjunction with Fig. 1 and Fig. 4, shaft (5) is mounted on frame (4), and servo motor (1) is mounted on frame (4), frame
(4) support tandem rocker actuator, servo motor (1) drives the rotation of tandem rocker actuator, and several wing plates of tandem
(13) surge movement is showed.
Claims (5)
1. a kind of propulsion system of bionical object flex-wing, mainly by servo motor, frame, rocker structure, wing plate structure, connecting shaft
It is formed with shaft；It is characterized by: smallclothes (6) both ends are respectively symmetrically equipped with a disk (13), smallclothes (6) and disk (13)
Link position and the center of circle of disk (13) be not overlapped；Smallclothes (6) and disk (13) the composition rocker structure for being mounted on its both ends
(2)；Several rocker structures (2) are linked together by connecting shaft (8) and form tandem rocker actuator, the output of servo motor (1)
One end of axis and tandem rocker actuator links together, and servo motor (1) drives the rotation of tandem rocker actuator；Wing plate structure
(3) it is made of wing plate (12), connecting plate (9) and rocking bar (11)；Connecting plate (9) is equipped with rotating hole (10), and wing plate structure (3) is logical
Rotating hole (10) is crossed to cover on shaft (5)；Smallclothes (6) are equipped with sliding eye (7), and rocking bar (11) passes through sliding eye (7).
2. a kind of propulsion system of bionical object flex-wing according to claim 1, it is characterised in that: two neighboring rocking bar knot
Structure (2), the latter rocker structure (2) more previous rocker structure (2) are rotated around the axis of connecting shaft (8) along fixed-direction
There is fixed angle.
3. a kind of propulsion system of bionical object flex-wing according to claim 1, it is characterised in that: shaft (5) is mounted on
On frame (4), servo motor (1) and frame (4) are fixed together, and frame (4) supports tandem rocker actuator, so that tandem is shaken
Lever apparatus rotation stable under the driving of servo motor (1).
4. a kind of propulsion system of bionical object flex-wing according to claim 1, it is characterised in that: each rocker structure
(2) smallclothes (6) in realize a wing plate (12) around shaft (5) by the rocking bar (11) in one wing plate structure (3) of driving
Flap, to realize the surge movement of several wing plates (12) of tandem.
5. a kind of propulsion system of bionical object flex-wing according to claim 1, it is characterised in that: smallclothes (6) are strip
Shape structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810999557.9A CN109367745A (en) | 2018-08-30 | 2018-08-30 | The propulsion system of bionical object flex-wing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810999557.9A CN109367745A (en) | 2018-08-30 | 2018-08-30 | The propulsion system of bionical object flex-wing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109367745A true CN109367745A (en) | 2019-02-22 |
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ID=65404909
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810999557.9A Pending CN109367745A (en) | 2018-08-30 | 2018-08-30 | The propulsion system of bionical object flex-wing |
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| Country | Link |
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| CN (1) | CN109367745A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997045317A1 (en) * | 1996-05-28 | 1997-12-04 | Massachusetts Institute Of Technology | Method and apparatus for reducing drag on a moving body |
| CN102039994A (en) * | 2010-11-01 | 2011-05-04 | 河南工程学院 | Bionic ribbonfish for exploration |
| CN202464110U (en) * | 2012-02-10 | 2012-10-03 | 台州职业技术学院 | Undulatory fin device applied to bionic research |
| CN202499268U (en) * | 2012-03-09 | 2012-10-24 | 台州职业技术学院 | Bionic ray |
| US20130305978A1 (en) * | 2012-04-25 | 2013-11-21 | Georgia Tech Research Corporation | Marine vehicle systems and methods |
| CN203623955U (en) * | 2013-12-12 | 2014-06-04 | 中国人民解放军国防科学技术大学 | Flexible bionic propeller |
| CN103950527A (en) * | 2014-05-09 | 2014-07-30 | 兰州交通大学 | Ray pectoral fin-imitated piezoelectric coupling propulsive mechanism |
| CN105620704A (en) * | 2016-03-03 | 2016-06-01 | 代林桐 | Ray-imitating propulsion device for ships |
| CN106672185A (en) * | 2016-08-11 | 2017-05-17 | 西北工业大学 | Flexible flapping wing driving device for small underwater vehicle |
| CN206766307U (en) * | 2017-04-11 | 2017-12-19 | 合肥工业大学 | A kind of tandem drive formula bionic machine fish |
-
2018
- 2018-08-30 CN CN201810999557.9A patent/CN109367745A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997045317A1 (en) * | 1996-05-28 | 1997-12-04 | Massachusetts Institute Of Technology | Method and apparatus for reducing drag on a moving body |
| CN102039994A (en) * | 2010-11-01 | 2011-05-04 | 河南工程学院 | Bionic ribbonfish for exploration |
| CN202464110U (en) * | 2012-02-10 | 2012-10-03 | 台州职业技术学院 | Undulatory fin device applied to bionic research |
| CN202499268U (en) * | 2012-03-09 | 2012-10-24 | 台州职业技术学院 | Bionic ray |
| US20130305978A1 (en) * | 2012-04-25 | 2013-11-21 | Georgia Tech Research Corporation | Marine vehicle systems and methods |
| CN203623955U (en) * | 2013-12-12 | 2014-06-04 | 中国人民解放军国防科学技术大学 | Flexible bionic propeller |
| CN103950527A (en) * | 2014-05-09 | 2014-07-30 | 兰州交通大学 | Ray pectoral fin-imitated piezoelectric coupling propulsive mechanism |
| CN105620704A (en) * | 2016-03-03 | 2016-06-01 | 代林桐 | Ray-imitating propulsion device for ships |
| CN106672185A (en) * | 2016-08-11 | 2017-05-17 | 西北工业大学 | Flexible flapping wing driving device for small underwater vehicle |
| CN206766307U (en) * | 2017-04-11 | 2017-12-19 | 合肥工业大学 | A kind of tandem drive formula bionic machine fish |
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Application publication date: 20190222 |
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